Natural and step responses of RLC circuits

• Let us consider circuits containing both inductors and capacitors

• Two simple structures :

• Parallel RLC circuit

• Series RLC circuit

• A circuit used to illustrate

the natural response of a
parallel RLC circuit.

(a)

• A circuit used to illustrate

the step response of a
parallel RLC circuit.

(b)

• A circuit used to illustrate

the natural response of a
series RLC circuit.

(c)

• A circuit used to illustrate

the step response of a series
RLC circuit.

(d)

Natural response of a parallel RLC circuit

• Let us consider the circuit (a)

7.1
 • We can derive the differential equation that the voltage V must satisfy

t
V 1 dV
+ ∫ Vdτ + I 0 + C =0
R L0 dt

• To eliminate the integral, one can differentiate with respect to time

1 dV 1 d 2V
+ V +C 2 =0
R dt L dt

• We divide by the capacitance, C and arrange the derivatives in descending order

d 2V 1 dV 1
2
+ + V =0
dt RC dt LC

An ordinary second-order differential equation with constant

coefficients

General solution of the second-order differential equation

• The classical approach is to assume that the solution is of exponential form

i.e. the voltage is of the form

V = Ae st
where
A, s : unknown constants

• We substitute the exponential solution into the 2nd-order differential equation

1 1
As 2 e st + Ase st + Ae st = 0
RC LC
 1 1 
Ae st  s 2 + s+ =0
 RC LC 

which can be satisfied for all values of t if A is zero or the paranthetical

term is zero.

• Note that e st ≠ 0 for any finite values of st

• We can not use A = 0 implying V = 0 for all time

physically impossible if energy is stored in either the inductor or capacitor.

7.2
Therefore ;
1 1
s2 + s+ =0
RC LC

called the “characteristic equation”

• The roots of the characteristic equation are ;

s1 = −α + α 2 − ω 02
s 2 = −α − α 2 − ω 02

where
1 1
α= , ω0 =
2 RC LC

• Hence the natural response of the parallel RLC circuit is

V = A1e s1t + A2 e s2t

• The initial conditions determine the values of the constans A1 , A2

Forms of the natural response of a parallel RLC circuit

• The behavior of a 2nd-order RLC circuit depends on

the values of s1, s2, i.e. on the R, L, C parameters

• Three possible outcomes :

ω 0ω 0 < α ; both roots are real and distinct

< α ;
2 2 2 2

overdamped response

ωω02 0= =α α
2 2 2
; ; equal coincident real roots

critically damped response

ωω02 20>>αα2 2 ; ; both roots are complex

underdamped response

7.3
Overdamped voltage response

• The roots of the characteristic equation are real and distinct

• The solution for the voltage is of the form

V = A1e s1t + A2 e s2t

• The constants A1, A2 are determined by the initial conditions

dV +
i.e. V (0 + ), (0 )
dt
V (0 + ) = A1 + A2
dV (0 + )
= s1 A1 + s 2 A2
dt

How to get initial conditions ?

• The value of is the initial voltage on the capacitor, V0

• The value of dV (0 + ) / dt is determined by

dV (0 + ) 1
= i C (0 + )
dt C

• Using KCL gives

V (0 + ) V (0 + )
+ iC ( 0 + ) + I 0 = 0 ⇒ iC ( 0 + ) = − − I0
R R

Ex. For the circuit shown

V (0 + ) = 12V
i L (0 + ) = 30mA

a. Find the initial current in each branch of the circuit

b. Find dV (0 + ) / dt

c. V (t ) = ?

d. Sketch V (t ) for 0 ≤ t ≤ 250 µ s

i
7.4
a.
12
i R (0 + ) = = 60mA
200

i L (0 − ) = i L (0) = i L (0 + ) = 30mA
iC (0 + ) = −i R (0 + ) − iC (0 + ) = −90mA , iC (0 − ) = 0

dV (0 + ) 1 1
b. = iC ( 0 + ) = −6
⋅ (−90) ⋅ 10 −3 = −450 kV / s
dt C 0.2 ⋅ 10

c.

1 1
s2 + −6
s+ =0
200 ⋅ 0.2 ⋅ 10 50 ⋅ 10 ⋅ 0.2 ⋅ 10 −6
−3

s 2 + 25 ⋅ 10 3 s + 10 8 = 0

s1 = −5000 s 2 = −20000

V = A1e s1t + A2 e s2t

V (0 + ) = A1 + A2 = 12
dV (0 + )
= −5000 A1 − 20000 A2 = −450 ⋅ 10 3
dt

• Hence we have

A1 + A2 = 12 
 ⇒ A1 = −14 , A2 = 26
A1 + 4 A2 = 90 

( )
V (t ) = − 14e −5000t + 26e − 2000t V , t ≥ 0

d
d.

7.5
Underdamped voltage source

• When ω 02 > α 2 , the roots of the characteristic equation are complex

s1 = −α + j ω 02 − α 2 = −α + jω d
s 2 = −α − j ω 02 − α 2 = −α − jω d

where
ω d = ω 02 − α 2 “damped natural frequency”

• The underdamped voltage response of a parallel RLC circuit is given by

V (t ) = B1e −α t cos ω d t + B 2 e −α t sin ω d t

• The constant coefficients B1 and B2 are determined by

the initial energy stored in the circuit

V (0 + ) = V0 = B1
dV (0 + ) iC (0 + )
= = −αB1 + ω d B2
dt C

Nature of the underdamped response

• This response is oscillatory with a rate of ω d

• The amplitude of the oscillation decreases exponentially

with the rate of α ( damping factor )

Critically damped voltage response

• The second-order circuit is critically damped when ω 02 = α 2

• The two roots are real and equal

1
s1 = s 2 = −α = −
2 RC

• The solution for the differential equation takes the form

V (t ) = D1te −α t + D2 e −α t

7.6
 • The coefficients D1 and D2 are determined by

V ( 0 + ) = V0 = D 2
dV (0 + ) iC (0 + )
= = D1 − α D2
dt C

• Critically damped systems are rare in practice,

as ω 0 must equal exactly α = ω 0

Ex. In the circuit shown, V0 = 10V , I 0 = 80mA

L = 10mH
C = 1µF
R = 62.5Ω

a. Find dV (0 + ) / dt

b. Solve for V (t )

c. Find i L (t )

a.
t
dV 1 V
iC + i L + i R = C + ∫ Vdτ + I 0 + = 0
dt L 0 R

dV (0 + ) V dV (0 + ) 1  10 
C = −I 0 − 0 ⇒ = −6 − 80 ⋅ 10 −3 −
dt R dt 10  62.5 
= −80000 − 160000 = −240000 V / s

b. V (t ) = B1e −α t cos ω d t + B 2 e −α t sin ω d t

1 1
with α= −6
= 8000 , ω 0 = = 10 4
2 ⋅ 62.5 ⋅ 10 10 ⋅ 10 ⋅ 10 −6
−3

7.7
 • Hence
ω d = ω 02 − α 2 = 10 8 − 64 ⋅ 10 6 = 6000
V (t ) = B1e −8000t cos(6000t ) + B2 e −8000t sin(6000t )
V (0 + ) = V0 = 10 = B1
dV (0 + )
= −α B1 − ω d B2 = −8 ⋅ 10 3 ⋅ 10 − 6 ⋅ 10 3 B2 = −240 ⋅ 10 3
dt
80
⇒ B2 = −
3

c.
t
1  −8000τ 80 
−3 ∫ 
i L (t ) = 10e cos(6000τ ) − e −8000τ sin(6000τ ) dτ
10 ⋅ 10 0  3 
= 10e −8000t [8 cos 6000t + (82 / 3) sin 6000t ]mA , t ≥ 0

Ex. The circuit in the previous example is adjusted for critical damping.

L = 0.4 H , C = 10 µF

• The initial energy stored in the circuit is 25 mJ and equally distributed between the inductor
and capacitor.

a. R=? , b. V0 = ? , c. I 0 = ? , d. V (t ) = ? , e. i R , t ≥ 0 +

a.
1 1 1 1
= ⇒ = = 500
2 RC LC 2 ⋅ R ⋅ 10 ⋅ 10 −6 0.4 ⋅ 10 ⋅ 10 −6

⇒ R = 100 Ω

1
b. ⋅ 10 ⋅ 10 − 6 ⋅ V02 = 12.5 ⋅ 10 −3 ⇒ V0 = 50V
2

1
c. ⋅ 0.4 ⋅ I 02 = 12.5 ⋅ 10 −3 ⇒ I 0 = 250mA
2

d.
V (t ) = D1te −500t + D2 e −500t
D2 = V0 = 50

dV (0 + ) 1  50 
= −6 
− 250 ⋅ 10 −3 − = 10 5 ⋅ (−750) ⋅ 10 −3 = −75000
dt 10 ⋅ 10  100 
D1 − 500 D2 = D1 − 500 ⋅ 50 = −75000 ⇒ D1 = −50000

7.8
e.
iR =
1
100
[
⋅ − 50000te −500t + 50e −500t ]
= −500te −500t + 0.5e −500t A

7.9